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    \title{Report practical session CACSD Seesaw} %
    \author{Roel Matthysen, Tuur Stuyck} %
    \date{Academic year 2011-2012} %
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\section{Introduction}
\label{sec:introduction}

In this paper we will discuss the design and performance of an LQR-type controller for the seesaw setup. This is a practical exercise for the course 'Computer aided control systems design' taught by professor Dr. Ir. Bart De Moor. 
Section \ref{sec:ssmodel} will discuss the linearised model of the seesaw. The design of the controller and the performance on the linearised model will be discussed in section \ref{sec:controller}. The performance of this controller on the real setup will be discussed in section \ref{sec:proofofpudding}. We will end this paper with some conclusions formulated in section \ref{sec:conclusion}.

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\section{Conclusion}
\label{sec:conclusion}

The controller designed with the computer generated simulations did not behave completely the same on the real setup as it did in the virtual simulations, e.g. the model does not take into account friction in the system which showed to be quite notable. Another difference is the presence of the noise. The simulation did provide a good starting point for the tuning of the weighting matrices Q and R.


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